KR101866690B1

KR101866690B1 - system for measuring underwater structure and measuring method using the same

Info

Publication number: KR101866690B1
Application number: KR1020170039932A
Authority: KR
Inventors: 이정우; 서진호; 최영호; 이종득; 이효준
Original assignee: 한국로봇융합연구원
Priority date: 2017-03-29
Filing date: 2017-03-29
Publication date: 2018-06-12
Also published as: WO2018182098A1

Abstract

The present invention relates to an underwater structure measurement system and an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to a sea floor and accumulating a plurality of tomographic shapes to generate a three- And a measurement method.
In order to achieve the above object, the present invention provides a boat, a lifting winch mounted on the ship, a lifting rope having one end fixed to the lifting winch, a sonar sensor coupled to the other end of the lifting rope, Wherein the sonar sensor is constituted by a profiling sonar and rotates at a fixed altitude (Z-axis) from the sea floor to acquire the shape of a surrounding monolayer, Wherein the control unit operates the lifting winch step by step to accumulate a plurality of single layer shapes obtained by increasing the altitude of the sonar sensor step by step to generate a three-dimensional shape of the underwater structure. do.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an underwater structure measurement system,

The present invention relates to an underwater structure measurement system and a method for measuring an underwater structure. More specifically, the present invention relates to an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to a sea floor, accumulating a plurality of tomographic shapes, and generating a three- And a method for measuring an underwater structure.

Conventionally, an image sensor or an image sensor is mainly used to generate three-dimensional shape information of an undersea topography and an underwater structure. The image sonar transmits and receives a sonar in a certain area to obtain information such as a two-dimensional image of a digital camera, and the brightness value corresponding to each pixel of the image is information on the distance.

In the prior art, three-dimensional information is generated by calculating the height of an object using information of an image or shadow region of an image (Application No. 10-2015-0028364), or existing three-dimensional undersea spatial information and a side scan sonar Similar method) to generate three-dimensional undersea topography information (Application No.: 10-2012-0018385).

However, in the above-described prior art, the image is processed using the image sonar to construct the three-dimensional information. Instead of receiving the image information of the image sonar, the measuring distance is only several meters to several tens meters, The same or a lower level than the method. Also, the measured information is projected image information measured from the image sonar to the submarine topography or the underwater structure in the diagonal direction, and the error due to the distortion of the image becomes larger as the distance increases.

In actual operation, the information is measured while moving the image sonar to a long structure (pipe, etc.) on the ship. At this time, if the ship moves up and down due to digging or the like, the distance between the image sonar and the submarine topography or underwater structure changes, There is a difficulty in correcting the whole, and if the measurement information moving up and down the ship is inaccurate, the correction can not be performed, so that the generation of the entire three-dimensional information may not be possible.

The present invention relates to an underwater structure measurement system and an underwater structure measurement system capable of acquiring a plurality of tomographic shapes while moving a sonar sensor in a direction perpendicular to the sea floor and accumulating a plurality of tomographic shapes to generate a three- And a measurement method.

The present invention also relates to an underwater structure measuring system and a method for measuring an underwater structure capable of accurately measuring the underwater structure shape by reducing the measurement error of the attitude information and rapidly controlling and maintaining the underwater altitude during the shape measurement.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

The underwater structure measuring system according to an embodiment of the present invention includes a ship, a lifting winch mounted on the ship, a lifting rope having one end fixed to the lifting winch, a sonar sensor coupled to the other end of the lifting rope, And a controller for controlling the lifting winch and the sonar sensor to generate a three-dimensional shape of the underwater structure. The sonar sensor is composed of a profiling sonar, and rotates at a fixed altitude (Z-axis) Dimensional shape of the underwater structure by accumulating a plurality of single-layer shapes acquired by increasing the altitude of the sonar sensor in stages, by operating the lifting winch step by step.

In addition, the controller may increase the altitude of the sonar sensor stepwise by an amount less than or equal to an altitude increase value according to the following equation (1).

[Equation 1]

(here,

Is an elevation increment value,

The maximum measurement distance of the sonar sensor,

Represents the angle of the ultrasonic wave emitted from the sonar sensor)

A winch that connects between the lifting rope and the sonar sensor and winds up or releases the lifting rope; an altitude sensor coupled to a lower portion of the sonar sensor for measuring an altitude from the sea floor; And a control unit connected to the winch, wherein the control unit operates the winch based on the altitude data measured by the altitude sensor to maintain the altitude at a target altitude.

The apparatus may further include a depth sensor coupled to a lower portion of the sonar sensor for measuring a depth from the sea surface and an attitude measuring sensor coupled to a lower portion of the sonar sensor and measuring the attitude of the sonar sensor.

In addition, the control unit may process the unacquired region in each of the plurality of single-layer shapes in a plane.

In addition, the control unit may process the unacquired regions in each of the plurality of single-layer shapes into a curved surface by using the spline interpolation method.

A method for measuring an underwater structure according to an embodiment of the present invention includes a first step of descending a sonar sensor to the seabed using a lifting winch mounted on a ship, a second step of transmitting and receiving ultrasonic waves in the sonar sensor, A third step of obtaining a tomographic shape of the underwater structure, a fourth step of determining whether the altitude of the sonar sensor is the final altitude, and a fourth step of determining whether the altitude of the sonar sensor is not the final altitude, Dimensional shape of the submerged structure by accumulating a plurality of acquired single-layer shapes when it is determined that the altitude of the sonar sensor is located at a final altitude in the fourth step, It includes six steps.

In the sixth step, the unacquired regions in each of the plurality of single-layer shapes may be processed as a plane.

Further, in the sixth step, the unacquired regions in each of the plurality of single-layer shapes can be processed into a curved surface by using the spline interpolation method.

The underwater structure measurement system and the underwater structure measurement method according to the present invention can acquire a plurality of tomographic shapes while moving the sonar sensor in a direction perpendicular to the sea floor, accumulate a plurality of tomographic shapes, It is possible to generate.

Also, the underwater structure measuring system and the underwater structure measuring method according to the present invention can precisely measure the underwater structure shape by reducing the measurement error of the attitude information and rapidly controlling and maintaining the underwater altitude during the shape measurement.

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and, together with the description, And shall not be interpreted.
1 schematically shows an underwater structure measurement system according to an embodiment of the present invention.
2 is a block diagram schematically illustrating an underwater structure measurement system according to an embodiment of the present invention.
3 is an exemplary view showing a profiling sonar sensor of an underwater structure measuring system according to an embodiment of the present invention.
4 illustrates a process of acquiring a tomographic shape using an underwater structure measurement system according to an embodiment of the present invention.
Fig. 5 shows the results of accumulating the tomographic shapes of Fig.
FIG. 6 shows a three-dimensional shape of an underwater structure generated using the underwater structure measurement system according to an embodiment of the present invention.
FIG. 7 shows a three-dimensional shape of an underwater structure generated by using an underwater structure measurement system according to another embodiment of the present invention.
8 is a flowchart illustrating a method of measuring an underwater structure according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

The embodiments of the present invention are described in order to more fully explain the present invention to those skilled in the art, and the following embodiments may be modified into various other forms, It is not limited to the embodiment. Rather, these embodiments are provided so that this disclosure will be more faithful and complete, and will fully convey the scope of the invention to those skilled in the art.

Also, in the following drawings, each configuration is exaggerated for convenience and clarity of description, and the same reference numerals denote the same elements in the drawings. As used herein, the term "and / or" includes any and all combinations of any of the listed items.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As used herein, the singular forms "a," "an," and "the" include singular forms unless the context clearly dictates otherwise. Also, " comprise "and / or" comprising "when used herein should be interpreted as specifying the presence of stated shapes, numbers, steps, operations, elements, elements, and / And does not preclude the presence or addition of one or more other features, integers, operations, elements, elements, and / or groups.

1 and 2, an underwater structure measuring system according to an embodiment of the present invention will be described in detail.

FIG. 1 schematically shows an underwater structure measurement system according to an embodiment of the present invention, and FIG. 2 is a block diagram schematically showing an underwater structure measurement system according to an embodiment of the present invention.

1 and 2, an underwater structure measuring system according to an embodiment of the present invention includes a lifting rope 20, a sonar sensor 100, a winch 200, a controller 300, 430, a watertight housing 400, and a lifting winch 500.

One end of the lifting rope 20 is fixed to the ship 10 through the fixing portion 11 and one end is connected to the lifting winch 500 and the other end is inserted into the water.

A part of the other end of the lifting rope 20 is wound around the winch 200 and can be wound or unwound by the operation of the winch 200. [

It is preferable that the lifting rope 20 is excellent in strength and corrosion resistance and can be freely deformed. For example, the lifting rope 20 may be composed of a steel stranded wire formed by twisting a plurality of steel wires.

The sonar sensor 100 is an abbreviation of "sonar (sound navigation and ranging) sensor" and means a device for finding the azimuth and distance of a target by a sound wave, and is also called an acoustic detection device or a sound detector.

The sonar sensor 100 may be implemented as a scanning sonar and may transmit sound waves in the water and receive reflection signals of the emitted sound waves to detect the presence, position, property, etc. of the underwater terrain (object) have.

Referring to FIG. 3, the sonar sensor 100 may include a profiling sonar and includes a sonic transceiver 110 and a rotary unit 120. That is, the sonar sensor 100 rotates 360 degrees through the rotation unit 120 and transmits and receives sound waves from the sound transmission / reception unit 110 to acquire the tomographic shape of the underwater structure.

The winch 200 is coupled to an upper portion of the sonar sensor 100 and operates to wind or unwind the lifting rope 20 at predetermined intervals.

That is, by the operation of the winch 200, the sonar sensor 100 moves up and down a predetermined distance in the water, and the target altitude can be maintained.

The control unit 300 may be disposed inside the watertight housing 400 and may be disposed inside the ship 10.

The control unit 300 is communicatively connected to the sonar sensor 100, the winch 200, the sensor units 410, 420 and 430 and the lifting winch 500 in a wired or wireless manner, The winch 200, the sensor units 410, 420 and 430 and the lifting winch 500 are controlled while the information measured by the sonar sensor 100 and the sensor units 410, 420 and 430 is converged .

The sensor units 410, 420, and 430 may be disposed inside the watertight housing 400 coupled to the lower portion of the sonar sensor 100 and may include an altitude sensor 410, a depth sensor 420, And a sensor 430.

Here, the watertight housing 400 is coupled to the lower portion of the sonar sensor 100 and may be set within a first mass range set to perform weighting.

Here, the first mass range may be set in the range of approximately 30 kg to 100 kg, and the shaking of the sonar sensor 100 due to the influence of the sea water flow, the wave, It is preferable to set it to 100 kg or less in order to resist the tensile load of the lifting rope 20. However, the numerical range of the first mass is only one example, and the present invention is not limited thereto.

The altitude sensor 410 can be accommodated in the watertight housing 400 and is constituted by a sound wave sensor and measures the altitude from the sea floor 2 in the water.

The altitude data measured by the altitude sensor 410 is transmitted to the control unit 300 by wire or wirelessly.

The water depth sensor 420 can be accommodated in the watertight housing 400 and is constituted by a pressure sensor to measure the water depth from the water surface 1.

The water depth data measured by the water depth sensor 420 is transmitted to the controller 300 by wire or wirelessly.

That is, the control unit 300 compares the altitude data with the target altitude set at the designated position, compares the set target altitude with the depth data, and determines the direction and amount of rotation of the winch 200. Thus, the altitude or depth of the sonar sensor 100 is always kept constant.

Accordingly, by measuring the underwater terrain through the sonar sensor 100 while maintaining the target altitude without being influenced by the flow of seawater, the waves or the movement of the ship, the number of remeasures is reduced and the unmeasured portion is reduced The working efficiency can be improved.

The attitude measuring sensor 430 measures an attitude including at least one of a velocity, an acceleration, a rotational angular velocity, and a slope of the sonar sensor 100 moving by the flow of seawater, the waves, or the movement of a ship.

Here, the attitude measuring sensor 430 may be implemented as a gyroscope. The principle of the gyroscope is that when the inertia body vibrating or rotating constantly in the first axis direction receives an input of the angular velocity by the rotation in the second axial direction which is perpendicular to the first axial direction, The rotational angular velocity can be detected by detecting the Coriolis force generated in the orthogonal third axis direction, and velocity, acceleration, tilt, etc. can be calculated based on the detected rotational angular velocity. At this time, if the force applied to the inertial body is balanced, the accuracy of angular velocity detection becomes high.

In particular, a structure using a force balancing method is preferable in order to widen the linearity and bandwidth of a signal. As a kind of gyroscope, in addition to the gyroscope for measuring the angular velocity using the mass of the rotating body as described above, a vibrating gyroscope, a fiber optic gyroscope, a ring laser gyroscope ), A dynamically turned gyroscope, or the like can be used.

The lifting winch 500 may be mounted on the ship 10 or attached to the side of the ship 10 and may be operated under the control of the control unit 300 to wind or pull the lifting rope 20 The altitude of the sonar sensor 100 can be changed (raised or lowered).

4 and 5, the sonar sensor 100 is positioned at a first altitude H1 at a first time and is located at a first elevation H1 through a lifting winch 500 to receive a sound wave M toward the underwater structure 3 And receives the reflected wave M1 reflected from the structure 3 to detect the presence, position, property, and the like of the underwater structure 3.

The sonar sensor 100 rotates 360 degrees at the first elevation H1 to detect the surrounding underwater structure 3 and acquire the tomographic shape at the first elevation H1.

Here, the monolayer shape may be a three-dimensional shape having a predetermined height (Z-axis) depending on the radiation angle of the sound wave M.

Thereafter, the control unit 300 operates the lifting winch 500 to raise the sonar sensor 100 at the first altitude H1 to raise the first altitude H2 to the second altitude H1 + H2.

Here, it is preferable that the elevation height H1 of the sonar sensor 100 is set to a value equal to or less than the height increase value according to the following equation (1).

[Equation 1]

(here,

Is an elevation increment value,

The maximum measurement distance of the sonar sensor,

Represents the angle of the sound wave emitted from the sonar sensor)

That is, it is preferable that at least a part of the sound wave M emission range at the first altitude H1 and the sound emission range M at the second altitude H2 + H2 overlap, and as the overlap range becomes wider The accuracy of the generated three-dimensional shape is improved.

However, since the time for generating the three-dimensional shape increases as the overlapping range is wider, preferable working time and overlapping range can be set in consideration of the relationship between the precision and the working time.

Thereafter, the sonar sensor 100 rotates 360 degrees at the second altitude H1 + H2 to detect the surrounding underwater structure 3 and obtain the tomographic shape at the second altitude H1 + H2.

Similarly, the control unit 300 then operates the lifting winch 500 to raise the sonar sensor 100 at the second altitude H1 + H2 to the second altitude H3 to raise the third altitude H1 + H2 + H3).

Thereafter, the sonar sensor 100 rotates 360 degrees at the third altitude (H1 + H2 + H3) to detect the surrounding underwater structure 3 and acquire the tomographic shape at the third altitude (H1 + H2 + H3) do.

That is, in addition to the reflected wave M1 initially reflected at the first hill of the underwater structure 3, for example, since the sound wave M of the sonar sensor 100 is transmitted with a width, The signal is reflected and received on the second hill, the elevation is measured, and the signal reflected by the second hill and the third hill is received. Thus, more detailed measurement of terrain information between the previously unmeasured second and third hills becomes possible.

It is also possible to measure the elevation of the elevation to a level higher than before and to receive the signal of the reflected wave M1 reflected by the fourth hill which has not been previously measured so that detailed shape information can be obtained within the range reached by the sound wave M Can be obtained.

Then, the control unit 300 accumulates the tomographic shapes acquired at the altitudes, and generates a three-dimensional shape for the underwater structure 3 by matching the overlapping ranges.

Referring to FIG. 6, in a single-layer shape acquired at the altitudes (first altitude, second altitude, and third altitude) of each step, the sound wave M is blocked by the underwater structure 3, There is an unacquired region A that does not receive the data M1.

As shown in FIG. 6, the controller 300 connects the last points in the tomographic shape acquired at the respective altitudes to obtain the unacquired region A on the plane 3a in the three-dimensional shape, As shown in FIG.

According to another embodiment of the present invention, as shown in FIG. 7, the controller 300 estimates the position (distance, height) of the lowest point on the basis of the slope at the last point of the tomographic shape acquired at each stepwise altitude Next, spline interpolation is performed on the highest point of the first hill, the estimated lowest point of the non-acquired area (A), and the highest point of the second hill to obtain the unacquired area (A) (3b).

Next, a method of measuring an underwater structure using an underwater structure measuring system will be described in detail with reference to FIGS. 4 to 8. FIG.

FIG. 4 shows a process of acquiring a tomographic shape using an underwater structure measurement system according to an embodiment of the present invention, FIG. 5 shows the result of accumulating the tomographic shapes of FIG. 4, FIG. 7 shows a three-dimensional shape of an underwater structure produced by using the underwater structure measurement system according to another embodiment of the present invention, and FIG. 8 shows a three-dimensional shape of an underwater structure formed by using the underwater structure measurement system according to another embodiment of the present invention. 1 is a flowchart illustrating a method of measuring an underwater structure according to an embodiment of the present invention.

Referring to FIG. 8, a method for measuring an underwater structure according to an embodiment of the present invention includes a descending step S10, an ultrasonic transmission / reception step S20, a rotating step S30, a final height determination step S40, An ascending step S50 and a three-dimensional shape generating step S60.

In the descending step S10, after the current position is determined based on the GPS (Global Positioning System) disposed on the ship 10, after the ship 10 is fixed, The winch 500 operates and the sonar sensor 100 descends to the first altitude H1.

In the ultrasound transmitting and receiving step S20, the sonar sensor 100 transmits a sound wave M in one direction and receives the reflected wave M1 reflected by the underwater structure 3 to detect the presence, position, And the like.

As described above, the control unit 300 compares the target altitude (first altitude) set at the designated position with the current altitude data, compares the set target depth with the depth data, And maintains the altitude or depth of the sonar sensor 100 constant at all times.

In the rotation step S30, the sonar sensor 100 is rotated 360 degrees while the altitude is maintained at the first altitude H1 to detect the underwater structures 3 in all directions. At the first altitude H1, Obtain a single-layer shape.

In step S40, it is determined whether the current altitude is a target final altitude (for example, the third altitude). If it is determined that the final altitude is reached, The three-dimensional shape of the underwater structure 3 is generated.

If it is determined in step S40 that the current altitude does not reach the final altitude in the ascending step S50, the lifting winch 500 is operated to raise the altitude by the set height H2, H1 + H2).

After reaching the second altitude (H1 + H2) in the ascending step (S50), the sonar sensor (100) is rotated 360 degrees again to detect the omnidirectional underwater structure (3) H1 + H2).

As a result, the sonar sensor 100 can be raised and rotated through a series of processes described above to obtain a single-layer shape at each step-by-step altitude up to a target final altitude (for example, the third altitude).

[Equation 1]

(here,

Is an elevation increment value,

The maximum measurement distance of the sonar sensor,

Represents the angle of the sound wave emitted from the sonar sensor)

In the three-dimensional shape generating step S60, when it is determined that the current altitude reaches the final altitude (for example, the third altitude) at which the current altitude is reached, a plurality of tomographic shapes acquired up to now are accumulated, Thereby creating a three-dimensional shape for the underwater structure 3.

It is to be understood that the present invention is not limited to the above-described embodiment, and that various modifications and changes may be made without departing from the scope of the present invention as defined in the appended claims. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.

10: Ship 20: Lifting rope
100: sonar sensor 200: winch
300: control unit 400: watertight housing
410, 420, 430:
500: lifting winch

Claims

Ship;
A lifting winch mounted on the ship;
A lifting rope whose one end is fixed to the lifting winch;
A sonar sensor coupled to the other end of the lifting rope and introduced into the water; And
A controller for controlling the lifting winch and the sonar sensor to generate a three-dimensional shape of the underwater structure; Lt; / RTI >
The sonar sensor is composed of a profiling sonar and rotates at a fixed altitude (Z-axis) from the sea floor to acquire a peripheral tomographic shape,
Wherein the control unit operates the lifting winch step by step to accumulate a plurality of single layer shapes obtained by increasing the altitude of the sonar sensor step by step to generate a three-dimensional shape of the underwater structure.

The method according to claim 1,
Wherein the controller increases the altitude of the sonar sensor step by step in accordance with Equation (1) below.
[Equation 1]

(here,

Is an elevation increment value,

The maximum measurement distance of the sonar sensor,

Represents the angle of the ultrasonic wave emitted from the sonar sensor)

The method according to claim 1,
A winch connecting between the lifting rope and the sonar sensor and winding or releasing the lifting rope;
An altitude sensor coupled to a lower portion of the sonar sensor and measuring an altitude from the sea floor; And
And a control unit connected to the altitude sensor and the winch,
Wherein the control unit operates the winch based on the altitude data measured by the altitude sensor to maintain the altitude at the target altitude.

The method according to claim 1,
A depth sensor coupled to a lower portion of the sonar sensor for measuring the depth from the sea surface,
Further comprising an attitude measuring sensor coupled to a lower portion of the sonar sensor and measuring an attitude of the sonar sensor.

The method according to claim 1,
The control unit
And the unacquired region in each of the plurality of single-layer shapes is processed as a plane.

The method according to claim 1,
The control unit
And the unacquired region in each of the plurality of single-layer shapes is processed into a curved surface by using the spline interpolation method.

A first step of descending the sonar sensor to the seabed using a lifting winch mounted on the ship;
A second step of transmitting and receiving ultrasonic waves from the sonar sensor;
A third step of rotating the sonar sensor to obtain a tomographic shape of the underwater structure;
A fourth step of determining whether the altitude of the sonar sensor is a final altitude;
A fifth step of raising the sonar sensor using the lifting winch if it is determined in the fourth step that the altitude of the sonar sensor is not the final altitude;
A sixth step of accumulating a plurality of acquired tomographic shapes to generate a three-dimensional shape of the underwater structure when it is determined that the altitude of the sonar sensor is located at a final altitude in the fourth step; Wherein the measurement of the underwater structure is carried out by the measurement apparatus.

8. The method of claim 7,
In the sixth step,
Wherein the unacquired region in each of the plurality of single-layer shapes is treated as a plane.

8. The method of claim 7,
In the sixth step,
And the unacquired region in each of the plurality of single-layer shapes is processed into a curved surface by using the spline interpolation method.